git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8933 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 67 insertions, 25 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index b69caea62..a2059ee2c 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -65,13 +65,26 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Type of OSAL timer.

+ */

+typedef struct {

+  void                  *free;

+  char                  name[OS_MAX_API_NAME];

+  uint32                start_time;

+  uint32                interval_time;

+  virtual_timer_t       vt;

+} osal_timer_t;

+

+/**

  * @brief   Type of OSAL main structure.

  */

 typedef struct {

   bool                  printf_enabled;

+  memory_pool_t         timers_pool;

   memory_pool_t         binary_semaphores_pool;

   memory_pool_t         count_semaphores_pool;

   memory_pool_t         mutexes_pool;

+  osal_timer_t          timers[OS_MAX_TIMERS];

   binary_semaphore_t    binary_semaphores[OS_MAX_BIN_SEMAPHORES];

   semaphore_t           count_semaphores[OS_MAX_COUNT_SEMAPHORES];

   mutex_t               mutexes[OS_MAX_MUTEXES];

@@ -110,6 +123,14 @@ int32 OS_API_Init(void) {
   /* OS_printf() initially disabled.*/

   osal.printf_enabled = false;

 

+  /* Timers pool initialization.*/

+  chPoolObjectInit(&osal.timers_pool,

+                   sizeof (osal_timer_t),

+                   NULL);

+  chPoolLoadArray(&osal.timers_pool,

+                  &osal.timers,

+                  sizeof (osal_timer_t));

+

   /* Binary Semaphores pool initialization.*/

   chPoolObjectInit(&osal.binary_semaphores_pool,

                    sizeof (binary_semaphore_t),

@@ -239,6 +260,8 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) {
   return (int32)MS2ST(milli_seconds);

 }

 

+/*-- timers API -------------------------------------------------------------*/

+

 /*-- Queues API -------------------------------------------------------------*/

 

 /*-- Binary Semaphore API ---------------------------------------------------*/

@@ -325,6 +348,7 @@ int32 OS_BinSemDelete(uint32 sem_id) {
 /**

  * @brief   Binary semaphore flush.

  * @note    The state of the binary semaphore is not changed.

+ * @note    This function can be safely called from timer handlers.

  *

  * @param[in] sem_id            binary semaphore id variable

  * @return                      An error code.

@@ -332,6 +356,7 @@ int32 OS_BinSemDelete(uint32 sem_id) {
  * @api

  */

 int32 OS_BinSemFlush(uint32 sem_id) {

+  syssts_t sts;

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

   if ((bsp < &osal.binary_semaphores[0]) ||

@@ -339,26 +364,24 @@ int32 OS_BinSemFlush(uint32 sem_id) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the semaphore is not in use then error.*/

   if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

-  if (bsp->sem.cnt < 0) {

-    chBSemResetI(bsp, true);

-    chSchRescheduleS();

-  }

+  chBSemResetI(bsp, true);

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_SUCCESS;

 }

 

 /**

  * @brief   Binary semaphore give.

+ * @note    This function can be safely called from timer handlers.

  *

  * @param[in] sem_id            binary semaphore id variable

  * @return                      An error code.

@@ -366,6 +389,7 @@ int32 OS_BinSemFlush(uint32 sem_id) {
  * @api

  */

 int32 OS_BinSemGive(uint32 sem_id) {

+  syssts_t sts;

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

   if ((bsp < &osal.binary_semaphores[0]) ||

@@ -373,18 +397,17 @@ int32 OS_BinSemGive(uint32 sem_id) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the semaphore is not in use then error.*/

   if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

   chBSemSignalI(bsp);

-  chSchRescheduleS();

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_SUCCESS;

 }

@@ -480,6 +503,8 @@ int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
 

 /**

  * @brief   Returns binary semaphore information.

+ * @note    This function can be safely called from timer handlers.

+ * @note    It is not currently implemented.

  *

  * @param[in] sem_id            binary semaphore id variable

  * @param[in] bin_prop          binary semaphore properties

@@ -488,6 +513,7 @@ int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
  * @api

  */

 int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {

+  syssts_t sts;

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

   /* NULL pointer checks.*/

@@ -500,15 +526,15 @@ int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the semaphore is not in use then error.*/

   if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_ERR_NOT_IMPLEMENTED;

 }

@@ -596,6 +622,7 @@ int32 OS_CountSemDelete(uint32 sem_id) {
 

 /**

  * @brief   Counter semaphore give.

+ * @note    This function can be safely called from timer handlers.

  *

  * @param[in] sem_id            counter semaphore id variable

  * @return                      An error code.

@@ -603,6 +630,7 @@ int32 OS_CountSemDelete(uint32 sem_id) {
  * @api

  */

 int32 OS_CountSemGive(uint32 sem_id) {

+  syssts_t sts;

   semaphore_t *sp = (semaphore_t *)sem_id;

 

   if ((sp < &osal.count_semaphores[0]) ||

@@ -610,18 +638,17 @@ int32 OS_CountSemGive(uint32 sem_id) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the semaphore is not in use then error.*/

   if (sp->queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

   chSemSignalI(sp);

-  chSchRescheduleS();

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_SUCCESS;

 }

@@ -717,6 +744,8 @@ int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
 

 /**

  * @brief   Returns counter semaphore information.

+ * @note    This function can be safely called from timer handlers.

+ * @note    It is not currently implemented.

  *

  * @param[in] sem_id            counter semaphore id variable

  * @param[in] sem_prop          counter semaphore properties

@@ -725,6 +754,7 @@ int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
  * @api

  */

 int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {

+  syssts_t sts;

   semaphore_t *sp = (semaphore_t *)sem_id;

 

   /* NULL pointer checks.*/

@@ -737,15 +767,15 @@ int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the semaphore is not in use then error.*/

   if (sp->queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_ERR_NOT_IMPLEMENTED;

 }

@@ -909,6 +939,8 @@ int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
 

 /**

  * @brief   Returns mutex information.

+ * @note    This function can be safely called from timer handlers.

+ * @note    It is not currently implemented.

  *

  * @param[in] sem_id            mutex id variable

  * @param[in] sem_prop          mutex properties

@@ -917,6 +949,7 @@ int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
  * @api

  */

 int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {

+  syssts_t sts;

   mutex_t *mp = (mutex_t *)sem_id;

 

   /* NULL pointer checks.*/

@@ -929,15 +962,15 @@ int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
     return OS_ERR_INVALID_ID;

   }

 

-  chSysLock();

+  sts = chSysGetStatusAndLockX();

 

   /* If the mutex is not in use then error.*/

   if (mp->queue.prev == NULL) {

-    chSysUnlock();

+    chSysRestoreStatusX(sts);

     return OS_SEM_FAILURE;

   }

 

-  chSysUnlock();

+  chSysRestoreStatusX(sts);

 

   return OS_ERR_NOT_IMPLEMENTED;

 }

@@ -1096,6 +1129,8 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
     return OS_SUCCESS;

   }

 

+  /* TODO: Check presence in registry.*/

+

   chSysLock();

 

   /* Changing priority.*/

@@ -1152,6 +1187,7 @@ int32 OS_TaskRegister(void) {
 

 /**

  * @brief   Current task id.

+ * @note    This function can be safely called from timer handlers.

  *

  * @return                      The current task id.

  *

@@ -1184,6 +1220,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
     return OS_ERR_NAME_TOO_LONG;

   }

 

+  /* TODO: Check presence in registry.*/

+

   /* Scanning registry.*/

   tp = chRegFirstThread();

   do {

@@ -1199,6 +1237,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
 

 /**

  * @brief   Returns task information.

+ * @note    This function can be safely called from timer handlers.

+ * @note    It is not currently implemented.

  *

  * @param[in] task_id           the task id

  * @param[in] task_prop         task properties

@@ -1215,13 +1255,15 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
     return OS_INVALID_POINTER;

   }

 

+  /* TODO: Check presence in registry.*/

+

   strncpy(task_prop->name, tp->name, OS_MAX_API_NAME - 1);

   task_prop->creator    = (uint32)chSysGetIdleThreadX();

   task_prop->stack_size = (uint32)MEM_ALIGN_NEXT(wasize, PORT_STACK_ALIGN);

   task_prop->priority   = (uint32)256U - (uint32)tp->realprio;

   task_prop->OStask_id  = task_id;

 

-  return OS_ERR_NOT_IMPLEMENTED;

+  return OS_SUCCESS;

 }

 

 /** @} */